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Controllability of a Leader–Follower Dynamic Network With Switching Topology

机译：具有切换拓扑的前导动态网络的可控性

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This note studies the controllability of a leader-follower network of dynamic agents linked via neighbor rules. The leader is a particular agent acting as an external input to steer the other member agents. Based on switched control system theory, we derive a simple controllability condition for the network with switching topology, which indicates that the controllability of the whole network does not need to rely on that of the network for every specific topology. This merit provides convenience and flexibility in design and application of multiagent networks. For the fixed topology case, we show that the network is uncontrollable whenever the leader has an unbiased action on every member, regardless of the connectivity of the members themselves. This gives new insight into the relation between the controllability and the connectivity of the leader-follower network. We also give a formula for formation control of the network.
机译：本说明研究通过邻居规则链接的动态代理的领导者跟随者网络的可控性。领导者是特定的代理，充当外部输入以引导其他成员代理。基于交换控制系统理论，我们推导了具有交换拓扑的网络的简单可控性条件，这表明整个网络的可控制性并不需要依赖于每种特定拓扑的网络。该优点在多代理网络的设计和应用中提供了便利和灵活性。对于固定拓扑情况，我们表明，只要领导者对每个成员执行无偏操作，网络都是不可控制的，而与成员本身的连通性无关。这为领导者跟随者网络的可控制性和连通性之间的关系提供了新的见解。我们还给出了网络编队控制的公式。

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